CN109800902A - A kind of unmanned public transport optimization method of uninterrupted reciprocating flexible line length - Google Patents
A kind of unmanned public transport optimization method of uninterrupted reciprocating flexible line length Download PDFInfo
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- CN109800902A CN109800902A CN201811507317.9A CN201811507317A CN109800902A CN 109800902 A CN109800902 A CN 109800902A CN 201811507317 A CN201811507317 A CN 201811507317A CN 109800902 A CN109800902 A CN 109800902A
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Abstract
The invention discloses a kind of unmanned public transport optimization methods of uninterrupted reciprocating flexible line length, including passenger to propose bus trip demand, and the demand is including website of getting on the bus, get-off stop and reaches website temporal information of getting on the bus；Obtain the passenger's trip requirements received in a period, and the operating status of current unmanned bus, the plan of stopping of unmanned bus and position of turning around are determined according to flexible Bus Model, obtain optimal traffic route, realize that all passenger's travel times are minimum, passenger's travel time includes waiting time and riding time；Unmanned bus executes optimal traffic route, responds passenger's trip requirements.The present invention is in low-density area and non-commuting period, driving scheme can be adjusted according to passenger demand situation, reduce empty driving and the too low situation of load factor, reduce bus operation cost, overcome passenger demand it is lower when maintain the fixed bus service inefficiency of tradition, the problem of the wasting of resources.
Description
Technical field
The present invention relates to unmanned public transport and internet areas, and in particular to a kind of uninterrupted reciprocating flexible route is long
The unmanned public transport optimization method of degree.
Background technique
In low-density area or non-commuting period, passenger's trip requirements are less, and Trip distribution is uneven, therefore in kind of a situation
Under, if maintaining traditional fixed service public transit system of high service level, since it fixes route, fixed bus stop, fixed hair
Workshop every etc., it may appear that the phenomenon that load factor is too low and empty driving causes biggish operation cost, wastes a large amount of resource.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of unmanned public affairs of uninterrupted reciprocating flexible line length
Hand over optimization method.For the present invention according to passenger's trip requirements and bus real time position, dynamic updates adjustment automatic Pilot public transport
Traffic route reduces the travel time of passenger, saves bus operation cost.
The present invention adopts the following technical scheme:
A kind of unmanned public transport optimization method of uninterrupted reciprocating flexible line length, comprising:
Passenger proposes that bus trip demand, the demand are got on the bus the website time including website of getting on the bus, get-off stop and arrival
Information；
Obtain the passenger's trip requirements received in a period, and the operation shape of current unmanned bus
State determines the plan of stopping of unmanned bus and position of turning around according to flexible Bus Model, obtains optimal traffic route, real
Now all passenger's travel times are minimum, and passenger's travel time includes waiting time and riding time；
Unmanned bus executes optimal traffic route, responds passenger's trip requirements.
The flexible Bus Model, specifically:
Determine that target is that all passenger's travel times are minimum:
For a passenger, minimum waiting time calculation formula are as follows:
According to the relative position of each bus and passenger, distance L is calculatedα(k),s(r), then bus stops is obtained
The constraint condition for determining that all passenger demands are all serviced is that a passenger can only once take a bus,
Constraint condition are as follows:
Determine that passenger's arrival time is no earlier than the constraint condition of bus arrival time:
Indicate the waiting time of passenger r；Indicate the riding time of passenger r；Indicate that passenger r is corresponding public
Hand over the waiting time of vehicle k；tsrIndicate the arrival time of passenger r；K indicates the automatic Pilot bus quantity in work；K indicates work
Automatic Pilot bus sum in work；V indicates bus average overall travel speed；R expression passenger r ∈ 1,2 ..., R }；s(r)
Indicate that passenger r gets on the bus website；D (r) indicates passenger r get-off stop；Indicate whether bus k services on up direction direction
Website j, servicing is 1, and not servicing is 0；Indicate bus k in the downstream direction whether services sites j, servicing is 1, is not serviced
It is 0；LijIndicate the distance of bus station i to j；Indicate stop quantity of the bus from bus station i to j；tsIndicate bus
The average dwell time；α (k) indicates that the real time position of bus k, m m indicate the farthest position of turning around of uplink；Nn indicates downlink
Farthest position of turning around.
Passenger proposes bus trip demand by the passenger platform that mobile terminal or bus station are arranged.
It is only stopped in given parking website in the optimal traffic route, and in given position change form side of turning around
To.
The mobile terminal is smart phone or tablet computer.
According to the relative position of each bus and passenger, specifically there are ten kinds of situations, as follows shown in Fig. 3:
I: it is positive direction that garage direction, which goes out line direction with passenger, and passenger is in the front of vehicle heading, without turning around；
II: it is positive direction that garage direction, which goes out line direction with passenger,；Passenger needs two at the rear of vehicle heading
It is secondary to turn around；
III: garage direction is negative direction, and contrary with passenger's trip, and passenger needs at the rear of vehicle heading
It once to turn around；
IV: garage direction is negative direction, and contrary with passenger's trip, and passenger needs in the front of vehicle heading
It once to turn around；
V: it is negative direction that garage direction, which goes out line direction with passenger, and passenger is not necessarily in the front of vehicle heading
Head；
VI: it is negative direction that garage direction, which goes out line direction with passenger,；Passenger needs twice at the rear of vehicle heading
It turns around；
VII: setting garage direction as positive direction, garage direction is gone on a journey contrary with passenger；Passenger is in vehicle heading
Rear needs once to turn around；
VIII: setting garage direction as positive direction, garage direction is gone on a journey contrary with passenger；Passenger is in vehicle heading
Front needs once to turn around；
Ⅸ: vehicle parking is awaited orders, and passenger goes out line direction positive direction；
Ⅹ: vehicle parking is awaited orders, and passenger goes out line direction negative direction.
The distance Lα(k),s(r)Calculation formula are as follows:
The bus stopsCalculation formula are as follows:
Fig. 2 shows the Management plan track signal of plugging into of uninterrupted reciprocating flexible route transportation system in the present invention
Figure.The flexible system of this case has the characteristics that multiple public transport while running without interruption that all bus running states are all independent
, and follow system command scheduling.Passenger can carry out trip request by the smart button on platform, app on mobile phone etc.
Request, these requests include beginning and end (bus station) and departure time.The real-time computation requests of system, determine each public transport
The operating status (real time position, direction, distalmost end, passengers quantity in bus etc.) of vehicle.Then, system is retouched according in this case
The model stated is the transferring of each bus optimal scheme.Public bus network and timetable are constantly updated according to Real time request,
To meet the minimum requirements of system total time.Whenever having task change, automatic bus can be in time according to new route and time
Table row is sailed, and passenger will receive a new information, shows their GPS location for picking up number, E.T.A and bus.
Beneficial effects of the present invention:
1, compared with traditional fixed service public transport, the present invention adapts to the personalized trip requirements of passenger, in low-density area
With the non-commuting period, driving scheme can be adjusted according to passenger demand situation, reduce empty driving and the too low situation of load factor, reduce
Bus operation cost, overcome passenger demand it is lower when maintain the fixed bus service inefficiency of tradition, the problem of the wasting of resources；
2, the present invention does not require bus that must stop portion compared with stitch seam leans out line formula, the flexible public transport of station offset
Branch website, in the present invention automatic Pilot public transport when being waited according to minimum selection stop, and according to the traffic route of systems organization,
Designated position changes driving direction, and without returning to first and last station, line length is not fixed, therefore the present invention is more flexible, quickly
Passenger demand is responded, low-density area bus service competitiveness is promoted.
Detailed description of the invention
Fig. 1 is work flow diagram of the invention；
Fig. 2 is the Management plan track schematic diagram of plugging into of uninterrupted reciprocating flexible route of the invention；
Fig. 3 is that bus real time position of the invention is illustrated to passenger loading website situation.
Specific embodiment
Below with reference to examples and drawings, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
The present embodiment provides a kind of unmanned public transport optimization method of uninterrupted reciprocating flexible line length, according to multiplying
Objective trip requirements and bus real time position, dynamic update the traffic route of adjustment automatic Pilot public transport, reduce the trip of passenger
Time saves bus operation cost.
The flexible Bus Model can carry out the real-time trip requirements information that passenger issues at analysis with public transport real time information
Reason, dynamic adjust bus traffic route intelligent guidance vehicle running path and situation of plugging into.Unmanned bus is in route
On reciprocal traveling incessantly, according to model solution as a result, determining driving direction, turning around position and station etc. is stopped in selection.
As shown in Figure 1, being equipped with 9 anchor points altogether on a new road of public transport, number is respectively 1~9, station spacing such as table 3
It is shown, it shares two automatic Pilot buses and puts into effect.In one hour, passenger's trip requirements such as table 2 are produced altogether.
2 embodiment passenger's bus trip demand information table of table
Each bus stop of 3 embodiment of table is apart from table (unit: rice)
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | |
| 1 | - | 360 | 2160 | 2560 | 3760 | 4860 | 5960 | 7360 | 7810 |
| 2 | 360 | - | 1800 | 2200 | 3400 | 4500 | 5600 | 7000 | 7450 |
| 3 | 2160 | 1800 | - | 400 | 1600 | 2700 | 3800 | 5200 | 5650 |
| 4 | 2560 | 2200 | 400 | - | 1200 | 2300 | 3400 | 4800 | 5250 |
| 5 | 3760 | 3400 | 1600 | 1200 | - | 1100 | 2200 | 3600 | 4050 |
| 6 | 4860 | 4500 | 2700 | 2300 | 1100 | - | 1100 | 2500 | 2950 |
| 7 | 5960 | 5600 | 3800 | 3400 | 2200 | 1100 | - | 1400 | 1850 |
| 8 | 7360 | 7000 | 5200 | 4800 | 3600 | 2500 | 1400 | - | 450 |
| 9 | 7810 | 7450 | 5650 | 5250 | 4050 | 2950 | 1850 | 450 | - |
Step 1: passenger submits trip requirements, including website of getting on the bus, debarkation stop by platform smart key or cell phone application
Point is got on the bus the website time with arrival；
Step 2: model analysis passenger demand and bus status information generate target and constraint, and solving model determines public
It hands over driving direction, turn around position and selection stop station etc., to obtain new driving scheme；
Model solution obtains the optimal traffic route scheme of two buses:
Bus 1:1 → 2 → 8 → 9 → 8 → 3 → 2 → 1 → 2 → 3 → 4 → 5 → 6 → 7 → 8 → 9 → 8 → 7 → 5 → 4 →
2→1
Bus 2:9 → 6 → 5 → 2 → 3 → 4 → 5 → 6 → 8 → 3 → 2 → 6
Step 3: automatic Pilot public transport, which is implemented, updates traffic route adjusted, and passenger can understand bus vehicle by APP
Information.
Step 4: unmanned bus stops bus station according to traffic route, and passenger loading is got off, response passenger's trip
Demand.
Compared with traditional fixed service public transport, the present invention is with the obvious advantage, and effect of optimization is as shown in table 4, significantly reduces and multiplies
The waiting time of visitor and travel time.
Table 4
| Total waiting time (min) | Total travel time | |
| Fixed public transport | 441.8 | 774.7 |
| The present invention | 348.5 | 671.6 |
| Degree of optimization | 21.12% | 13.31% |
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by the embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (8)
1. a kind of unmanned public transport optimization method of uninterrupted reciprocating flexible line length characterized by comprising
Passenger proposes bus trip demand, and the demand is including website of getting on the bus, get-off stop and reaches website temporal information of getting on the bus；
Obtain the passenger's trip requirements received in a period, and the operating status of current unmanned bus, root
The plan of stopping of unmanned bus and position of turning around are determined according to flexible Bus Model, are obtained optimal traffic route, are realized institute
There is passenger's travel time minimum, passenger's travel time includes waiting time and riding time；
Unmanned bus executes optimal traffic route, responds passenger's trip requirements.
2. unmanned public transport optimization method according to claim 1, which is characterized in that the flexible Bus Model, tool
Body are as follows:
Determine that target is all passenger's travel times minimums under flexible modes,
For the waiting time,For journey time；
For a passenger, minimum waiting time is the time that all vehicles reach the pointMinimum value, calculation formula are as follows:
According to the relative position of each bus and passenger, distance L is calculatedα(k),s(r), then bus stops is obtained
The constraint condition for determining that all passenger demands are all serviced is that a passenger can only once take a bus, constraint
Condition are as follows:
Determine that passenger's arrival time is no earlier than the constraint condition of bus arrival time:
Indicate the waiting time of passenger r；Indicate the riding time of passenger r；Indicate that passenger r corresponds to bus
The waiting time of k；tsrIndicate the arrival time of passenger r；K indicates the automatic Pilot bus quantity in work；K is indicated in work
Automatic Pilot bus sum；V indicates bus average overall travel speed；R expression passenger r ∈ 1,2 ..., R }；S (r) is indicated
Passenger r gets on the bus website；D (r) indicates passenger r get-off stop；Indicate bus k on up direction direction whether service station
Point j, servicing is 1, and not servicing is 0；Indicate bus k in the downstream direction whether services sites j, servicing is 1, does not service and is
0；LijIndicate the distance of bus station i to j；Indicate stop quantity of the bus from bus station i to j；tsIndicate the flat of bus
The equal dwell time；α (k) indicates that the real time position of bus k, mm indicate the farthest position of turning around of uplink；Nn indicates that downlink is farthest
Position of turning around.
3. unmanned public transport optimization method according to claim 1, which is characterized in that passenger by mobile terminal or
The passenger platform of bus station setting proposes bus trip demand.
4. unmanned public transport optimization method according to claim 1, which is characterized in that in the optimal traffic route only
It is stopped in given parking website, and in given position change form direction of turning around.
5. unmanned public transport optimization method according to claim 2, which is characterized in that the mobile terminal is intelligent hand
Machine or tablet computer.
6. unmanned public transport optimization method according to claim 2, which is characterized in that according to each bus and multiply
, specifically there are ten kinds of situations in the relative position of visitor, as follows:
I: it is positive direction that garage direction, which goes out line direction with passenger, and passenger is in the front of vehicle heading, without turning around；
II: it is positive direction that garage direction, which goes out line direction with passenger,；Passenger needs to fall twice at the rear of vehicle heading
Head；
III: garage direction is negative direction, and contrary with passenger's trip, and passenger needs one at the rear of vehicle heading
It is secondary to turn around；
IV: garage direction is negative direction, and contrary with passenger's trip, and passenger needs one in the front of vehicle heading
It is secondary to turn around；
V: it is negative direction that garage direction, which goes out line direction with passenger, and passenger is in the front of vehicle heading, without turning around；
VI: it is negative direction that garage direction, which goes out line direction with passenger,；Passenger needs to fall twice at the rear of vehicle heading
Head；
VII: setting garage direction as positive direction, garage direction is gone on a journey contrary with passenger；Passenger is after vehicle heading
Side, needs once to turn around；
VIII: setting garage direction as positive direction, garage direction is gone on a journey contrary with passenger；Passenger is before vehicle heading
Side, needs once to turn around；
Ⅸ: vehicle parking is awaited orders, and passenger goes out line direction positive direction；
Ⅹ: vehicle parking is awaited orders, and passenger goes out line direction negative direction.
7. unmanned public transport optimization method according to claim 6, which is characterized in that the distance Lα(k),s(r)Meter
Calculate formula are as follows:
L in formulaS(r)For the distance of the trip position from positive direction starting point to passenger, Lα(k)From positive direction starting point to the real-time of vehicle k
The distance of position, LmmAnd LnnFor from positive direction starting point to positive direction most proximal end and distalmost end to the distance of positive direction starting point.
8. unmanned public transport optimization method according to claim 7, which is characterized in that the bus stopsCalculation formula are as follows:
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| CN113628473A (en) * | 2021-07-02 | 2021-11-09 | 东南大学 | Intelligent bus response type stop plan and dynamic scheduling system |
| CN113808381A (en) * | 2020-06-12 | 2021-12-17 | 大富科技(安徽)股份有限公司 | Public transport scheduling method, server and storage medium |
| CN115083142A (en) * | 2021-03-12 | 2022-09-20 | 深圳市赛格导航科技股份有限公司 | Bus control method, system and device and computer readable storage medium |
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| CN113496346A (en) * | 2020-04-02 | 2021-10-12 | 丰田自动车株式会社 | Operation management device, operation management method, and traffic system |
| CN113496346B (en) * | 2020-04-02 | 2024-04-26 | 丰田自动车株式会社 | Operation management device, operation management method, and traffic system |
| CN111709545A (en) * | 2020-05-19 | 2020-09-25 | 东风汽车集团有限公司 | Control method of passenger appointment riding system of unmanned passenger car |
| CN113808381A (en) * | 2020-06-12 | 2021-12-17 | 大富科技(安徽)股份有限公司 | Public transport scheduling method, server and storage medium |
| CN111898832A (en) * | 2020-08-06 | 2020-11-06 | 新石器慧义知行智驰(北京)科技有限公司 | Unmanned vehicle connection method, device, equipment and storage medium |
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| CN112085340A (en) * | 2020-08-14 | 2020-12-15 | 广州思创科技股份有限公司 | Bus scheduling method, system, device and storage medium |
| CN112085340B (en) * | 2020-08-14 | 2024-04-02 | 广州思创科技股份有限公司 | Bus dispatching method, system, device and storage medium |
| CN112907071A (en) * | 2021-02-20 | 2021-06-04 | 华南理工大学 | Bus scheduling method, system and device based on willingness-to-pay and storage medium |
| CN115083142A (en) * | 2021-03-12 | 2022-09-20 | 深圳市赛格导航科技股份有限公司 | Bus control method, system and device and computer readable storage medium |
| CN113628473A (en) * | 2021-07-02 | 2021-11-09 | 东南大学 | Intelligent bus response type stop plan and dynamic scheduling system |
| CN113628473B (en) * | 2021-07-02 | 2022-07-22 | 东南大学 | Intelligent bus response type stop plan and dynamic scheduling system |
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